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Section 6
A set of transformation data for the 5-axis transformation TRAORI must be set up in the machine
$MC_TRAFO_ .... .
Machine types for which the table or tool can be rotated, can either be operated as true 5-axis machines or as conventional machines with orientable tool carriers. In both cases, machine kinematics
is determined by the same data, which, due to different parameters, previously had to be entered
twice - for tool holder via system variables and for transformations via machine data. The new transformation type 72 can be used to specify that these two machine types access identical data.
Transformation type 72
The following machine data can be used to define a generic 5-axis transformation for transformation
type 72 with kinematic data read from the data for an orientable tool holder:
MD24100 $MC_TRAFO_TYPE_1 = 72 (definition of 1st transformation)
MD24200 $MC_TRAFO_TYPE_2 = 72 (definition of 2nd transformation)
MD24300 $MC_TRAFO_TYPE_3 = 72 (definition of 3rd transformation)
MD24400 $MC_TRAFO_TYPE_4 = 72 (definition of 4th transformation)
Each transformation can be assigned to a TCARR number in the following channel machine data:
MD24582 $MC_TRAFO5_TCARR_NO_1 = 1 (e.g. TCARR=1 for the 1st 5-axis transformation) or
MD24682 $MC_TRAFO5_TCARR_NO_2 = 2 (e.g. TCARR=2 for the 2nd 5-axis transformation) or
MD25282 $MC_TRAFO5_TCARR_NO_3 = 3 (e.g. TCARR=3 for the 3rd 5-axis transformation) or
MD25382 $MC_TRAFO5_TCARR_NO_4 = 4 (e.g. TCARR=4 for the 4th 5-axis transformation).
The corresponding transformation type can then be derived from the content of the kinematic type
with parameter $TC_CARR23 (see following table).
Machine type
Workpiece
Tool/workpiece
Kinematic Type:
Transformation
type:
24
40
56
Note:
Orientable tool
holder TCARR
T,P,M
72 from content of
$TC_CARR23
It is possible to define up to 10 Transformation types per channel, from which a maximum of 4 can
be 5-axis transformations.
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Axis assignment
This machine data states for each channel weather the tool is included in the transformation or not.
It is evaluated on the condition that the orientation of the tool with reference to the basic coordinate
-axis
If this MD is set, the basic coordinate system (BCS) refers to the tool reference point even with active
transformation. Otherwise it refers to the tool tip point (TTP).
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This machine data designates the sign with which the two rotary axes are included in the first 5-axis
transformation of a channel.
MD = 0 (FALSE):
Sign is reversed.
MD = 1 (TRUE) :
Sign is not reversed and the traversing direction is defined according to
MD32100 $MA_AX_MOTION_DIR.
This machine data does not mean that the rotational direction of the rotary axis concerned is to be
reversed, but specifies whether its motion is in the mathematically positive or negative direction
when the axis is moving in the positive direction.
The result of a change to this machine data is not therefore a change in the rotational direction, but a
change in the compensatory motion of the linear axes.
However, if a directional vector and thus, implicitly, a compensatory motion is specified, the result is a
change in the rotational direction of the rotary axis concerned.
On a real machine, therefore, the machine data may be set to FALSE (or zero) only if the rotary axis
is turning in an anti-clockwise direction when moving in a positive direction.
MD24574 $MC_TRAFO5_BASE_ORIENT_1 [0..2] (Tool orient. vector channel axis 1st 5-axis trafo)
MD24674 $MC_TRAFO5_BASE_ORIENT_2 [0..2] (Tool orient. vector channel axis 2nd 5-axis trafo)
.....
This MD indicates the vector of the base tool orientation (initial kinematic setting) in the general 5axis transformation (TRAFO_TYPE_ = 24, 40, 56, 72) if this is not defined on the transformation call
(G17, G18, G19) or read from a programmed tool in the program.
MD24574[0] $MC_TRAFO5_BASE_ORIENT_1 (tool base orientation vector X)
MD24574[1] $MC_TRAFO5_BASE_ORIENT_1 (tool base orientation vector Y)
MD24574[2] $MC_TRAFO5_BASE_ORIENT_1 (tool base orientation vector Z)
This machine data indicates the direction of the orientation vector for the first 5-axis transformation
for each channel
0: Tool vector in X direction
1: Tool vector in Y direction
2: Tool vector in Z direction (default)
Notes
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2. If no orientation normal vector has been programmed and a tool is active, the vector is taken from
the tool parameters in the tool list (tool types 130,131).
3. If no orientation normal vector has been programmed and also no tool is active, the vector defined
in the following machine data is used.
MD24576[0] $MC_TRAFO6_BASE_ORIENT_1 (tool normal vector X)
MD24576[1] $MC_TRAFO6_BASE_ORIENT_1 (tool normal vector Y)
MD24576[2] $MC_TRAFO6_BASE_ORIENT_1 (tool normal vector Z)
The position of the orientation coordinate system of a standard tool depends on the active plane
G17, G18, G19 according to the following table:
Table 1- 5 Position of the orientation coordinate system
Direction of tool orientation vector
G17
G18
G19
Note:
This machine data is only important when working with angle head attachments in combination with
5-axis transformation, whereby the angle head has a fixed angle set parallel to one of the work
planes (G17,G18,G19) or can change the fixed tool setting angle.
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If the tool orientation with active 5-axis transformation is programmed kinematic independent in an
NC block by means of a Euler-, RPY-angle or direction vector, it is necessary to calculate the rotary
axis positions that produce the desired orientation.
This calculation has no unique result and there are always at least two essentially different solutions.
In addition, any number of solutions can result from a modification to the rotary axis positions by any
multiple of 360 degrees.
The control system chooses the solution which represents the shortest distance from the current
starting point, allowing for the programmed interpolation type.
Determining permissible axis limits
The control system attempts to define another permissible solution if the axis limits are violated, by
approaching the desired axis position along the shortest path. The second solution is then verified,
and if this solution also violates the axis limits, the axis positions for both solutions are modified by
multiples of 360 until a valid position is found.
The following conditions must be met in order to monitor the axis limits of a rotary axis and modify the
calculated end positions:
A generic 5-axis transformation of type 24, 40 56 or 72 must be active.
The axis must be referenced.
The axis must not be a modulo rotary axis (MD30310).
The following machine data may not be equal to zero:
MD21180 $MC_ROT_AX_SWL_CHECK_MODE (check software limits
for orientation axes)
The following machine data specifies the conditions under which the rotary axis positions may be
modified: MD21180 $MC_ROT_AX_SWL_CHECK_MODE
0: No modification permitted (default, equivalent to previous behaviour).
2: Modification is always permitted, even if vector interpolation (large circle interpolation, conical
interpolation, etc.) was active originally.
Example for the modification of rotary axis motion
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To allow modification at any time, following machine data has the value 2:
MD21180 $MC_ROT_AX_SWL_CHECK_MODE = 2
(check software limits for orientation axes)
N10 X0 Y0 Z0 A0 C0
N20 TRAORI
N30 A-1 C10
N40 A3=-1 C3=1 ORIWKS
N50 M30
At the start of block N30 in the example program, the machine is positioned at rotary axis positions A1 C10. The programmed end orientation can be achieved with either of the axis positions A-45 C0
(1st solution) or A45 C180 (2nd solution).
The first solution is selected initially, because it is nearest to the starting orientation and, unlike the
second solution, can be achieved using large circle interpolation (ORIVECT). However, this position
cannot be reached because of the axis limits of the A axis.
The second solution is therefore used instead, i.e. the end position is A45 C180. The end orientation
is achieved by axis interpolation. The programmed orientation path cannot be followed.
1: A modulo conversion is performed on the setpoints for the rotary axes. The software limit switches
and work area limitations are inactive. The traversing range is therefore unlimited
0: No modulo conversion
MD30320 $MA_DISPLAY_MODULO (Axis specific modulo pos. display)
1
In case of a positive direction of rotation, the control resets the position display internally to 0.0000
degrees after one full revolution of the specified axis. The display range is always positive and lies
between 0 and 359.999 degrees.
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With this machine data it is possible to set the reset behaviour of the current work offset upon activation of 5-axis transformation.
If it is not clear how to set this machine data then it is recommended to program a work offset (G54)
and tool offset number (D1) after the TRAORI command (recommended setting =1).
Settings for MD10602
0= The current total frame is cancelled when geometry axes are switched over.
1= The current total frame remains active when geometry axes are switched over.
2= The current total frame remains active. If rotations or rotary axes translations are active
before geometry axes are switched over, then the switchover is aborted with a alarm.
3= The current total frame is deleted when selecting the 5-axis transformation. In case of
programming the command GEOX() the frame is not cancelled.
This machine data is evaluated with the use of the G-code command ORIRESET and allows
setting of a rotary axis offset in degrees from MCS for the 1/2/3 rotary axis in the above machine
data.
MD24590 $MC_TRAFO5_ROT_OFFSET_FROM_FR_1 (rotary axes offset for WO)
This machine data is evaluated with the use of the G-code command ORIWKS and allows setting of
a rotary axis offset in degrees from MCS for the 1/2/3 rotary axis in a storable work offset (e.g. G54).
1: A rotary axes offset in the storable work offset is automatically accepted with active 5-axis trafo.
0: A rotary axes offset in the storable work offset is not accepted with active 5-axis trafo.
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TRAFO_TYPE_1 = 72
Press following softkeys to enter machine data for setup of a 5-axis transformation.
The following machine data meet the minimum requirement for setting up a 5-axis transformation
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Machine data
Value
Description
MD24100 $MC_TRAFO_TYPE_1
=72
MD24110[0] $MC_TRAFO_AXES_IN_1
MD24110[1] $MC_TRAFO_AXES_IN_1
MD24110[2] $MC_TRAFO_AXES_IN_1
MD24110[3] $MC_TRAFO_AXES_IN_1
MD24110[4] $MC_TRAFO_AXES_IN_1
=1
=2
=3
=5
=6
MD24120[0] $MC_TRAFO_GEOAX_ASSIGN_TAB_1
MD24120[1] $MC_TRAFO_GEOAX_ASSIGN_TAB_1
MD24120[2] $MC_TRAFO_GEOAX_ASSIGN_TAB_1
MD24130 $MC_TRAFO_INCLUDES_TOOL_1
=1
=2
=3
=1
MD24520[0] $MC_TRAFO5_ROT_SIGN_IS_PLUS_1
MD24520[0] $MC_TRAFO5_ROT_SIGN_IS_PLUS_1
=1
=1
MD24574[0] $MC_TRAFO5_BASE_ORIENT_1
MD24574[1] $MC_TRAFO5_BASE_ORIENT_1
MD24574[2] $MC_TRAFO5_BASE_ORIENT_1
=0
=0
=1
MD24582 $MC_TRAFO5_TCARR_NO_1
=1
MD21180 $MC_ROT_AX_SWL_CHECK_MODE
=2
MD10602 $MN_FRAME_GEOAX_CHANGE_MODE
=1
MD24580 $MC_TRAFO5_TOOL_VECTOR_1
=1
MD24590 $MC_TRAFO5_ROT_OFFSET_FROM_FR_1
=1
Softkey.
Notes
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The Kinematic of the rotary swivel table can be set up through the input mask of the swivel data
record (e.g. TCARR=1). Press the following softkeys to open the swivel data record:
V1
I2z=150
Z+
MCS
X0 Y0 Z0
C+
I4x=-(I2x+I3x)
X+
A+
I3z=-150.02
MCS
X0 Y0 Z0
Z+
Y+
I4z=-(I2z+I3z)
I4y=-(I2y+I3y)
I3y=-0.01
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$TC_CARR1[1]=0
$TC_CARR2[1]=0
$TC_CARR3[1]=0
$TC_CARR4[1]=250
$TC_CARR5[1]=200
$TC_CARR6[1]=150
$TC_CARR7[1]=-1
$TC_CARR8[1]=0
$TC_CARR9[1]=0
$TC_CARR10[1]=0
$TC_CARR11[1]=0
$TC_CARR12[1]=-1
$TC_CARR13[1]=0
$TC_CARR14[1]=0
$TC_CARR15[1]=0
$TC_CARR16[1]=-0.01
$TC_CARR17[1]=-150.02
$TC_CARR18[1]=-250
$TC_CARR19[1]=-199.99
$TC_CARR20[1]=0.02
$TC_CARR23[1]="P"
$TC_CARR24[1]=0
$TC_CARR25[1]=0
$TC_CARR26[1]=0
$TC_CARR27[1]=0
$TC_CARR28[1]=0
$TC_CARR29[1]=0
$TC_CARR30[1]=-100
$TC_CARR31[1]=0
$TC_CARR32[1]=100
$TC_CARR33[1]=360
$TC_CARR34[1]="TABLE"
$TC_CARR35[1]="A"
$TC_CARR36[1]="C"
$TC_CARR37[1]=415018005
$TC_CARR38[1]=200
$TC_CARR39[1]=200
$TC_CARR40[1]=300
M30
Notes
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